6D Pose Estimation on YCB-Video
97AUC (ADD-S)MRC-Net
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MRC-Netdetector=FCOS2024.03 | 97 | — | — | — | — | — | — | 94.3 | 83.6 | — | — | — | — | — | |
| MRC-Net2024.03 | 95 | — | — | — | — | — | — | 92.3 | 81.2 | — | — | — | — | — | |
| GDR-Net2024.03 | 91.6 | — | — | — | — | — | — | 84.4 | 60.1 | — | — | — | — | — | |
| CheckerPosedetector=FCOS2024.03 | 91.3 | — | — | — | — | — | — | 86.4 | 81.4 | — | — | — | — | — | |
| SO-Pose2024.03 | 90.9 | — | — | — | — | — | — | 83.9 | 56.8 | — | — | — | — | — | |
| ZebraPosedetector=FCOS2024.03 | 90.1 | — | — | — | — | — | — | 85.3 | 80.5 | — | — | — | — | — | |
| CosyPose2024.03 | 89.8 | — | — | — | — | — | — | 84.5 | — | — | — | — | — | — | |
| RePose2024.03 | 88.5 | — | — | — | — | — | — | 82 | 62.1 | — | — | — | — | — | |
| FoundationPose + Ground TruthPose Estimator=FoundationPose, Mask Source=Ground-Truth masks2025.11 | 0.99 | — | — | — | — | — | — | 0.78 | — | — | — | — | — | 0.74 | |
| BundleSDFObject=gelatin_box2023.09 | 0.9846 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=mustard_bottle2023.09 | 0.9821 | — | — | — | — | — | — | — | — | — | — | — | 0.005 | — | |
| BundleSDFObject=mustard_bottle2023.09 | 0.9821 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| STORMPose Estimator=FoundationPose, Mask Source=SOM2025.11 | 0.98 | — | — | — | — | — | — | 0.77 | — | — | — | — | — | 0.73 | |
| DTTDNetObject=gelatin_box2023.09 | 0.9797 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=sugar_box2023.09 | 0.9779 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=banana2023.09 | 0.9772 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=pudding_box2023.09 | 0.9767 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=bowl2023.09 | 0.9757 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=mustard_bottle2023.09 | 0.9739 | — | — | — | — | — | — | — | — | — | — | — | 0.005 | — | |
| DTTDNetObject=mustard_bottle2023.09 | 0.9739 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| ES6DObject=gelatin_box2023.09 | 0.9739 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=power_drill2023.09 | 0.9717 | — | — | — | — | — | 0.9981 | — | — | — | — | — | — | — | |
| BundleSDFObject=mug2023.09 | 0.9709 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=master_chef_can2023.09 | 0.9705 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=mug2023.09 | 0.97 | — | — | — | — | — | 0.9953 | — | — | — | — | — | — | — | |
| BundleSDFObject=large_clamp2023.09 | 0.9677 | — | — | — | — | — | 0.9916 | — | — | — | — | — | — | — | |
| DTTDNetObject=sugar_box2023.09 | 0.9676 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=tomato.can2023.09 | 0.9669 | — | — | — | — | — | — | — | — | — | — | — | 0.011 | — | |
| DTTDNetObject=tomato_can2023.09 | 0.9669 | — | — | — | — | — | 0.9917 | — | — | — | — | — | — | — | |
| DTTDNetObject=average2023.09 | 0.9662 | — | — | — | — | — | — | — | — | — | — | — | 0.009 | — | |
| BundleSDFObject=pitcher_base2023.09 | 0.9653 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DenseFusionObject=scissors2023.09 | 0.964 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=master_chef_can2023.09 | 0.9632 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| ES6DObject=sugar_box2023.09 | 0.9597 | — | — | — | — | — | 0.978 | — | — | — | — | — | — | — | |
| DenseFusionObject=mustard_bottle2023.09 | 0.959 | — | — | — | — | — | — | — | — | — | — | — | 0.005 | — | |
| DenseFusionObject=mustard_bottle2023.09 | 0.959 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DenseFusionObject=gelatin_box2023.09 | 0.958 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=tuna.can2023.09 | 0.9578 | — | — | — | — | — | — | — | — | — | — | — | 0.013 | — | |
| DTTDNetObject=tuna_can2023.09 | 0.9578 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=pitcher_base2023.09 | 0.9576 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=large_marker2023.09 | 0.9566 | — | — | — | — | — | 0.9722 | — | — | — | — | — | — | — | |
| DTTDNetObject=foam_brick2023.09 | 0.9563 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=power_drill2023.09 | 0.9557 | — | — | — | — | — | 0.9981 | — | — | — | — | — | — | — | |
| DenseFusionObject=mug2023.09 | 0.955 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DenseFusionObject=master_chef_can2023.09 | 0.952 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=extra_large_clamp2023.09 | 0.9515 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DenseFusionObject=sugar_box2023.09 | 0.951 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| BundleSDFObject=large_marker2023.09 | 0.9508 | — | — | — | — | — | 0.9383 | — | — | — | — | — | — | — | |
| DenseFusionObject=tuna.can2023.09 | 0.949 | — | — | — | — | — | — | — | — | — | — | — | 0.013 | — | |
| DenseFusionObject=tuna_can2023.09 | 0.949 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DenseFusionObject=average2023.09 | 0.9483 | — | — | — | — | — | — | — | — | — | — | — | 0.009 | — | |
| DenseFusionObject=pudding_box2023.09 | 0.947 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DenseFusionObject=large_marker2023.09 | 0.947 | — | — | — | — | — | 0.992 | — | — | — | — | — | — | — | |
| DenseFusionObject=pitcher_base2023.09 | 0.946 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=banana2023.09 | 0.9452 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DenseFusionObject=bleach_cleanser2023.09 | 0.943 | — | — | — | — | — | 0.998 | — | — | — | — | — | — | — | |
| DTTDNetObject=Average2023.09 | 0.9419 | — | — | — | — | — | 0.9614 | — | — | — | — | — | — | — | |
| DenseFusionObject=tomato.can2023.09 | 0.937 | — | — | — | — | — | — | — | — | — | — | — | 0.011 | — | |
| DenseFusionObject=tomato_can2023.09 | 0.937 | — | — | — | — | — | 0.969 | — | — | — | — | — | — | — | |
| ES6DObject=pitcher_base2023.09 | 0.9367 | — | — | — | — | — | 0.9018 | — | — | — | — | — | — | — | |
| DTTDNetObject=potted_meat2023.09 | 0.9356 | — | — | — | — | — | 0.9204 | — | — | — | — | — | — | — | |
| DTTDNetObject=bleach_cleanser2023.09 | 0.933 | — | — | — | — | — | 0.9961 | — | — | — | — | — | — | — | |
| BundleSDFObject=scissors2023.09 | 0.9325 | — | — | — | — | — | 0.9724 | — | — | — | — | — | — | — | |
| DTTDNetObject=pudding_box2023.09 | 0.9324 | — | — | — | — | — | 0.9533 | — | — | — | — | — | — | — | |
| ES6DObject=mustard_bottle2023.09 | 0.9313 | — | — | — | — | — | — | — | — | — | — | — | 0.005 | — | |
| ES6DObject=mustard_bottle2023.09 | 0.9313 | — | — | — | — | — | 0.8711 | — | — | — | — | — | — | — | |
| DTTDNetObject=cracker_box2023.09 | 0.9292 | — | — | — | — | — | 0.9804 | — | — | — | — | — | — | — | |
| ES6DObject=banana2023.09 | 0.9283 | — | — | — | — | — | 0.847 | — | — | — | — | — | — | — | |
| DenseFusionObject=cracker_box2023.09 | 0.925 | — | — | — | — | — | 0.993 | — | — | — | — | — | — | — | |
| DenseFusionObject=power_drill2023.09 | 0.924 | — | — | — | — | — | 0.971 | — | — | — | — | — | — | — | |
| DenseFusionObject=foam_brick2023.09 | 0.924 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| FoundationPose + CNOSPose Estimator=FoundationPose, Mask Source=CNOS2025.11 | 0.92 | — | — | — | — | — | — | 0.73 | — | — | — | — | — | 0.69 | |
| DenseFusionObject=banana2023.09 | 0.915 | — | — | — | — | — | 0.939 | — | — | — | — | — | — | — | |
| MegaPose-RGBDObject=pitcher_base2023.09 | 0.9126 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DenseFusionObject=Average2023.09 | 0.912 | — | — | — | — | — | 0.953 | — | — | — | — | — | — | — | |
| BundleSDFObject=tuna.can2023.09 | 0.9111 | — | — | — | — | — | — | — | — | — | — | — | 0.013 | — | |
| BundleSDFObject=tuna_can2023.09 | 0.9111 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| MegaPose-RGBDObject=tuna.can2023.09 | 0.9103 | — | — | — | — | — | — | — | — | — | — | — | 0.013 | — | |
| MegaPose-RGBDObject=tuna_can2023.09 | 0.9103 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| DTTDNetObject=large_clamp2023.09 | 0.9099 | — | — | — | — | — | 0.9944 | — | — | — | — | — | — | — | |
| BundleSDFObject=cracker_box2023.09 | 0.9069 | — | — | — | — | — | 0.8767 | — | — | — | — | — | — | — | |
| ES6DObject=pudding_box2023.09 | 0.9013 | — | — | — | — | — | 0.986 | — | — | — | — | — | — | — | |
| DenseFusionObject=potted_meat2023.09 | 0.901 | — | — | — | — | — | 0.931 | — | — | — | — | — | — | — | |
| ES6DObject=large_marker2023.09 | 0.9008 | — | — | — | — | — | 0.8796 | — | — | — | — | — | — | — | |
| CosyPose#Iterations=1, Refinement FPS=262021.04 | 0.898 | — | — | — | — | — | — | 0.841 | — | — | — | 74.3 | — | — | |
| CosyPose#Iterations=2, Refinement FPS=132021.04 | 0.898 | — | — | — | — | — | — | 0.845 | — | — | — | 75.6 | — | — | |
| DTTDNetObject=extra_large_clamp2023.09 | 0.897 | — | — | — | — | — | 0.9311 | — | — | — | — | — | — | — | |
| MegaPose-RGBDObject=pudding_box2023.09 | 0.8965 | — | — | — | — | — | 1 | — | — | — | — | — | — | — | |
| ES6DObject=tomato.can2023.09 | 0.8902 | — | — | — | — | — | — | — | — | — | — | — | 0.011 | — | |
| ES6DObject=tomato_can2023.09 | 0.8902 | — | — | — | — | — | 0.9271 | — | — | — | — | — | — | — | |
| MegaPose-RGBDObject=power_drill2023.09 | 0.8886 | — | — | — | — | — | 0.9773 | — | — | — | — | — | — | — | |
| ES6DObject=mug2023.09 | 0.8858 | — | — | — | — | — | 0.8915 | — | — | — | — | — | — | — | |
| RePOSETracking=true, #Iterations=5, Refinement FPS=712021.04 | 0.885 | — | — | — | — | — | — | 0.82 | — | — | — | 62.1 | — | — | |
| MegaPose-RGBDObject=average2023.09 | 0.8818 | — | — | — | — | — | — | — | — | — | — | — | 0.009 | — | |
| ES6DObject=bleach_cleanser2023.09 | 0.8812 | — | — | — | — | — | 0.8776 | — | — | — | — | — | — | — | |
| DTTDNetObject=wood_block2023.09 | 0.8763 | — | — | — | — | — | 0.905 | — | — | — | — | — | — | — | |
| MegaPose-RGBDObject=mustard_bottle2023.09 | 0.8741 | — | — | — | — | — | — | — | — | — | — | — | 0.005 | — | |
| MegaPose-RGBDObject=mustard_bottle2023.09 | 0.8741 | — | — | — | — | — | 0.9972 | — | — | — | — | — | — | — | |
| RePOSETracking=true, #Iterations=3, Refinement FPS=902021.04 | 0.872 | — | — | — | — | — | — | 0.806 | — | — | — | 61.6 | — | — | |
| MegaPose-RGBDObject=gelatin_box2023.09 | 0.8717 | — | — | — | — | — | 0.9907 | — | — | — | — | — | — | — |